TORO

Name: TORO
Rating: 4.0 (647 reviews)

A shiny blue and silver bipedal humanoid with powerful arms, black hands, and a cute rounded rectangular face with cameras and sensors, and two jointed legs. — Toro has 25 motors in his body. Photo: DLR

Toro is an advanced humanoid robot used as a research platform to study bipedal walking and autonomous behaviors combining manipulation and locomotion.

Creator

German Aerospace Center (DLR)

Year

2013

Country

Germany 🇩🇪

Categories

Features

How torque control on Toro works. Video: DLR

Did you know?

TORO stands for TOrque-controlled RObot. It also means "bull" in Spanish.

A close-up of TORO shows a view into the top of it's head, which reveals electronics. — And two computers in his torso and one in his head. Photo: DLR

A shiny blue and silver bipedal humanoid rests a hand on the top of a rugged space rover. — Even robots need best friends. Photo: DLR

Specs

Overview: Self-contained, with both position and torque control modes. Payload of 10 kg. Based on KUKA-DLR Lightweight Robot (LWR) arm drives.
Status: Ongoing
Year: 2013
Website: dlr.de/rm/desktopdefault.aspx/tabid-11678
Height: 174 cm
Weight: 76 kg
Speed: 1.8 km/h (arm speed)
Sensors: Position and torque sensors in each joint. 6-DoF force/torque sensor in each ankle. Inertial measurement units on torso and head. ASUS Xtion pro in the head. Two FLIR/Point Grey Firefly monochrome cameras in the head. One Intel RealSense SR 300 in the head.
Actuators: 25 motor drive units (based on LWR technology) on arms, legs, and hip. Two Dynamixel servo motors on the neck.
Degrees of Freedom (DoF): 39 (Neck: 2 DoF; Arms: 6 DoF x 2; Legs: 6 DoF x 2; Hip: 1 DoF; Hands: 6 DoF x 2)
Materials: Mostly custom-made parts, milled in aluminum.
Compute: Two Intel Core i7 computers on torso, one Intel Core i3 computer in the head
Software: Real-Time Linux based on Kernel 4. Real-time-capable middleware Links and Nodes (developed at DLR). Runtime-configurable hardware abstraction framework Robotkernel (developed at DLR).
Power: Two 48-V, 6.6-Ah lithium-ion-manganese-oxide battery packs, 1 hour of operation